{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "current_dir=d:\\users\\user\\anaconda2_02aug2019\\envs\\ml-agents\\lib\\site-packages\\pybullet_envs\\bullet\n",
      "max_steps:  1000\n",
      "device:  cuda:0\n",
      "state dim:  28\n",
      "action dim:  Box(8,)\n",
      "leraning rate:  0.0001\n"
     ]
    }
   ],
   "source": [
    "import gym\n",
    "import pybullet_envs\n",
    "import pybullet_envs.bullet as bul\n",
    "import numpy as np\n",
    "import torch\n",
    "from sac_agent import soft_actor_critic_agent\n",
    "from replay_memory import ReplayMemory\n",
    "\n",
    "seed=0  \n",
    "env = gym.make('AntBulletEnv-v0')\n",
    "\n",
    "torch.manual_seed(seed)\n",
    "torch.cuda.manual_seed(seed)\n",
    "torch.cuda.manual_seed_all(seed)\n",
    "torch.backends.cudnn.deterministic = True\n",
    "torch.backends.cudnn.benchmark = False\n",
    "\n",
    "import os\n",
    "os.environ['PYTHONHASHSEED']=str(seed)\n",
    "\n",
    "np.random.seed(seed)\n",
    "env.seed(seed)\n",
    "max_steps = env._max_episode_steps\n",
    "print('max_steps: ', max_steps)\n",
    "\n",
    "batch_size=256\n",
    "\n",
    "LEARNING_RATE=0.0001 \n",
    "eval=True  ## \n",
    "start_steps=10000 ## Steps sampling random actions\n",
    "replay_size=1000000 ## size of replay buffer\n",
    "device = torch.device(\"cuda:0\" if torch.cuda.is_available() else \"cpu\")\n",
    "\n",
    "# alpha=0.2  # relative importance of the entropy\n",
    "# gamma=0.99  # discount factor \n",
    "# tau=0.005  # target smoothing coefficient(τ)\n",
    "\n",
    "agent = soft_actor_critic_agent(env.observation_space.shape[0], env.action_space, \\\n",
    "        device=device, hidden_size=256, seed=seed, \\\n",
    "        lr=LEARNING_RATE, gamma=0.99, tau=0.005, alpha=0.2)\n",
    "\n",
    "memory = ReplayMemory(seed, replay_size)\n",
    "\n",
    "print('device: ', device)\n",
    "print('state dim: ', env.observation_space.shape[0])\n",
    "print('action dim: ', env.action_space)\n",
    "print('leraning rate: ', LEARNING_RATE)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "def save(agent, directory, filename, episode, reward):\n",
    "    torch.save(agent.policy.state_dict(), \\\n",
    "               '%s/%s_actor_%s_%s.pth' % (directory, filename, episode, reward))\n",
    "    torch.save(agent.critic.state_dict(), \\\n",
    "               '%s/%s_critic_%s_%s.pth' % (directory, filename, episode, reward))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 0, Total Steps: 1000, Ep.Steps: 1000, Score: 499.88, Avg.Score: 499.88, Time: 00:00:34\n",
      "Ep.: 1, Total Steps: 2000, Ep.Steps: 1000, Score: 508.91, Avg.Score: 504.39, Time: 00:01:22\n",
      "Ep.: 2, Total Steps: 3000, Ep.Steps: 1000, Score: 492.44, Avg.Score: 500.41, Time: 00:02:08\n",
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      "Ep.: 5, Total Steps: 4607, Ep.Steps: 1000, Score: 482.79, Avg.Score: 378.41, Time: 00:03:23\n",
      "Ep.: 6, Total Steps: 5607, Ep.Steps: 1000, Score: 532.57, Avg.Score: 400.44, Time: 00:04:10\n",
      "Ep.: 7, Total Steps: 6607, Ep.Steps: 1000, Score: 388.60, Avg.Score: 398.96, Time: 00:04:56\n",
      "Ep.: 8, Total Steps: 6757, Ep.Steps: 150, Score: 65.42, Avg.Score: 361.90, Time: 00:05:03\n",
      "Ep.: 9, Total Steps: 7757, Ep.Steps: 1000, Score: 479.69, Avg.Score: 373.68, Time: 00:05:50\n",
      "Ep.: 10, Total Steps: 8757, Ep.Steps: 1000, Score: 484.56, Avg.Score: 383.76, Time: 00:06:36\n",
      "Ep.: 11, Total Steps: 8853, Ep.Steps: 96, Score: 39.37, Avg.Score: 355.06, Time: 00:06:41\n",
      "Ep.: 12, Total Steps: 9853, Ep.Steps: 1000, Score: 520.66, Avg.Score: 367.80, Time: 00:07:27\n",
      "Ep.: 13, Total Steps: 10853, Ep.Steps: 1000, Score: 390.28, Avg.Score: 369.40, Time: 00:08:15\n",
      "Ep.: 14, Total Steps: 10913, Ep.Steps: 60, Score: 4.95, Avg.Score: 345.11, Time: 00:08:18\n",
      "Ep.: 15, Total Steps: 11057, Ep.Steps: 144, Score: 33.95, Avg.Score: 325.66, Time: 00:08:26\n",
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      "Ep.: 26, Total Steps: 14946, Ep.Steps: 475, Score: 152.73, Avg.Score: 246.31, Time: 00:11:37\n",
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      "Ep.: 32, Total Steps: 19394, Ep.Steps: 1000, Score: 274.37, Avg.Score: 244.83, Time: 00:15:16\n",
      "Ep.: 33, Total Steps: 19709, Ep.Steps: 315, Score: 150.34, Avg.Score: 242.05, Time: 00:15:32\n",
      "Ep.: 34, Total Steps: 19918, Ep.Steps: 209, Score: 81.57, Avg.Score: 237.47, Time: 00:15:42\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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     "output_type": "stream",
     "text": [
      "Ep.: 350, Total Steps: 215781, Ep.Steps: 20, Score: 3.06, Avg.Score: 381.71, Time: 03:24:02\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
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     ]
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     "output_type": "stream",
     "text": [
      "Ep.: 523, Total Steps: 341792, Ep.Steps: 1000, Score: 586.16, Avg.Score: 452.48, Time: 05:33:20\n",
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     ]
    },
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     "output_type": "stream",
     "text": [
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 695, Total Steps: 494897, Ep.Steps: 1000, Score: 709.41, Avg.Score: 588.43, Time: 07:54:35\n",
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      "Ep.: 699, Total Steps: 498897, Ep.Steps: 1000, Score: 739.85, Avg.Score: 601.04, Time: 07:58:20\n",
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      "Ep.: 703, Total Steps: 502897, Ep.Steps: 1000, Score: 695.27, Avg.Score: 617.77, Time: 08:02:05\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 781, Total Steps: 580897, Ep.Steps: 1000, Score: 735.45, Avg.Score: 692.06, Time: 09:12:52\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 867, Total Steps: 666122, Ep.Steps: 1000, Score: 647.56, Avg.Score: 740.02, Time: 10:24:32\n",
      "Ep.: 868, Total Steps: 667122, Ep.Steps: 1000, Score: 925.12, Avg.Score: 741.66, Time: 10:25:23\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 953, Total Steps: 752122, Ep.Steps: 1000, Score: 736.40, Avg.Score: 775.82, Time: 11:36:27\n",
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      "Ep.: 986, Total Steps: 785122, Ep.Steps: 1000, Score: 883.50, Avg.Score: 813.53, Time: 12:04:00\n",
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      "Ep.: 989, Total Steps: 788122, Ep.Steps: 1000, Score: 828.69, Avg.Score: 824.54, Time: 12:06:55\n",
      "Ep.: 990, Total Steps: 789122, Ep.Steps: 1000, Score: 1156.81, Avg.Score: 828.04, Time: 12:08:02\n",
      "Ep.: 991, Total Steps: 790122, Ep.Steps: 1000, Score: 1108.54, Avg.Score: 831.19, Time: 12:09:03\n",
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      "Ep.: 993, Total Steps: 792122, Ep.Steps: 1000, Score: 960.51, Avg.Score: 833.75, Time: 12:11:01\n",
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      "Ep.: 996, Total Steps: 795122, Ep.Steps: 1000, Score: 1133.36, Avg.Score: 834.70, Time: 12:13:42\n",
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      "Ep.: 998, Total Steps: 797122, Ep.Steps: 1000, Score: 878.34, Avg.Score: 836.84, Time: 12:15:22\n",
      "Ep.: 999, Total Steps: 798122, Ep.Steps: 1000, Score: 772.62, Avg.Score: 836.62, Time: 12:16:14\n",
      "Ep.: 1000, Total Steps: 799122, Ep.Steps: 1000, Score: 1001.23, Avg.Score: 838.63, Time: 12:17:06\n",
      "Ep.: 1001, Total Steps: 800122, Ep.Steps: 1000, Score: 1032.56, Avg.Score: 840.87, Time: 12:17:56\n",
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      "Ep.: 1004, Total Steps: 803122, Ep.Steps: 1000, Score: 741.15, Avg.Score: 846.06, Time: 12:20:31\n",
      "Ep.: 1005, Total Steps: 804122, Ep.Steps: 1000, Score: 965.97, Avg.Score: 848.52, Time: 12:21:30\n",
      "Ep.: 1006, Total Steps: 805122, Ep.Steps: 1000, Score: 767.61, Avg.Score: 850.17, Time: 12:22:34\n",
      "Ep.: 1007, Total Steps: 806122, Ep.Steps: 1000, Score: 711.08, Avg.Score: 850.22, Time: 12:23:40\n",
      "Ep.: 1008, Total Steps: 807122, Ep.Steps: 1000, Score: 900.63, Avg.Score: 851.01, Time: 12:24:42\n",
      "Ep.: 1009, Total Steps: 808122, Ep.Steps: 1000, Score: 748.09, Avg.Score: 850.74, Time: 12:25:44\n",
      "Ep.: 1010, Total Steps: 809122, Ep.Steps: 1000, Score: 1013.44, Avg.Score: 852.86, Time: 12:26:38\n",
      "Ep.: 1011, Total Steps: 810122, Ep.Steps: 1000, Score: 899.37, Avg.Score: 854.02, Time: 12:27:31\n",
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      "Ep.: 1013, Total Steps: 812122, Ep.Steps: 1000, Score: 1273.73, Avg.Score: 859.68, Time: 12:29:19\n",
      "Ep.: 1014, Total Steps: 813122, Ep.Steps: 1000, Score: 1210.21, Avg.Score: 864.32, Time: 12:30:10\n",
      "Ep.: 1015, Total Steps: 814122, Ep.Steps: 1000, Score: 880.47, Avg.Score: 865.50, Time: 12:31:02\n",
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      "Ep.: 1017, Total Steps: 816122, Ep.Steps: 1000, Score: 930.81, Avg.Score: 867.46, Time: 12:32:47\n",
      "Ep.: 1018, Total Steps: 817122, Ep.Steps: 1000, Score: 784.46, Avg.Score: 866.93, Time: 12:33:38\n",
      "Ep.: 1019, Total Steps: 818122, Ep.Steps: 1000, Score: 943.84, Avg.Score: 868.32, Time: 12:34:30\n",
      "Ep.: 1020, Total Steps: 819122, Ep.Steps: 1000, Score: 846.86, Avg.Score: 868.55, Time: 12:35:22\n",
      "Ep.: 1021, Total Steps: 820122, Ep.Steps: 1000, Score: 909.93, Avg.Score: 869.65, Time: 12:36:14\n",
      "Ep.: 1022, Total Steps: 821122, Ep.Steps: 1000, Score: 795.29, Avg.Score: 869.72, Time: 12:37:05\n",
      "Ep.: 1023, Total Steps: 822122, Ep.Steps: 1000, Score: 1250.31, Avg.Score: 874.40, Time: 12:37:57\n",
      "Ep.: 1024, Total Steps: 823122, Ep.Steps: 1000, Score: 884.11, Avg.Score: 875.93, Time: 12:38:48\n",
      "Ep.: 1025, Total Steps: 824122, Ep.Steps: 1000, Score: 964.31, Avg.Score: 878.59, Time: 12:39:43\n",
      "Ep.: 1026, Total Steps: 825122, Ep.Steps: 1000, Score: 1178.58, Avg.Score: 882.63, Time: 12:40:35\n",
      "Ep.: 1027, Total Steps: 826122, Ep.Steps: 1000, Score: 981.95, Avg.Score: 885.40, Time: 12:41:29\n",
      "Ep.: 1028, Total Steps: 827122, Ep.Steps: 1000, Score: 813.02, Avg.Score: 885.39, Time: 12:42:24\n",
      "Ep.: 1029, Total Steps: 828122, Ep.Steps: 1000, Score: 909.62, Avg.Score: 885.97, Time: 12:43:16\n",
      "Ep.: 1030, Total Steps: 829122, Ep.Steps: 1000, Score: 1062.19, Avg.Score: 888.30, Time: 12:44:09\n",
      "Ep.: 1031, Total Steps: 830122, Ep.Steps: 1000, Score: 952.56, Avg.Score: 889.94, Time: 12:45:00\n",
      "Ep.: 1032, Total Steps: 831122, Ep.Steps: 1000, Score: 1027.07, Avg.Score: 892.49, Time: 12:45:51\n",
      "Ep.: 1033, Total Steps: 832122, Ep.Steps: 1000, Score: 997.16, Avg.Score: 894.36, Time: 12:46:42\n",
      "Ep.: 1034, Total Steps: 833122, Ep.Steps: 1000, Score: 1061.94, Avg.Score: 896.83, Time: 12:47:33\n",
      "Ep.: 1035, Total Steps: 834122, Ep.Steps: 1000, Score: 1244.01, Avg.Score: 901.16, Time: 12:48:24\n",
      "Ep.: 1036, Total Steps: 835122, Ep.Steps: 1000, Score: 1146.93, Avg.Score: 905.58, Time: 12:49:15\n",
      "Ep.: 1037, Total Steps: 836122, Ep.Steps: 1000, Score: 781.46, Avg.Score: 906.10, Time: 12:50:06\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1038, Total Steps: 837122, Ep.Steps: 1000, Score: 1212.49, Avg.Score: 910.51, Time: 12:50:57\n",
      "Ep.: 1039, Total Steps: 838122, Ep.Steps: 1000, Score: 813.22, Avg.Score: 912.74, Time: 12:51:49\n",
      "Ep.: 1040, Total Steps: 839122, Ep.Steps: 1000, Score: 1147.63, Avg.Score: 915.81, Time: 12:52:40\n",
      "Ep.: 1041, Total Steps: 840122, Ep.Steps: 1000, Score: 962.85, Avg.Score: 917.39, Time: 12:53:33\n",
      "Ep.: 1042, Total Steps: 841122, Ep.Steps: 1000, Score: 1217.76, Avg.Score: 921.92, Time: 12:54:24\n",
      "Ep.: 1043, Total Steps: 842122, Ep.Steps: 1000, Score: 1207.47, Avg.Score: 926.65, Time: 12:55:15\n",
      "Ep.: 1044, Total Steps: 843122, Ep.Steps: 1000, Score: 1267.63, Avg.Score: 931.59, Time: 12:56:06\n",
      "Ep.: 1045, Total Steps: 844122, Ep.Steps: 1000, Score: 880.24, Avg.Score: 932.45, Time: 12:56:56\n",
      "Ep.: 1046, Total Steps: 845122, Ep.Steps: 1000, Score: 1337.95, Avg.Score: 937.39, Time: 12:57:46\n",
      "Ep.: 1047, Total Steps: 846122, Ep.Steps: 1000, Score: 889.93, Avg.Score: 938.56, Time: 12:58:37\n",
      "Ep.: 1048, Total Steps: 847122, Ep.Steps: 1000, Score: 926.30, Avg.Score: 938.76, Time: 12:59:27\n",
      "Ep.: 1049, Total Steps: 848122, Ep.Steps: 1000, Score: 1351.46, Avg.Score: 944.55, Time: 13:00:17\n",
      "Ep.: 1050, Total Steps: 849122, Ep.Steps: 1000, Score: 1326.02, Avg.Score: 949.17, Time: 13:01:08\n",
      "Ep.: 1051, Total Steps: 850122, Ep.Steps: 1000, Score: 1341.96, Avg.Score: 954.51, Time: 13:02:00\n",
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      "Ep.: 1053, Total Steps: 852122, Ep.Steps: 1000, Score: 1381.82, Avg.Score: 966.04, Time: 13:03:42\n",
      "Ep.: 1054, Total Steps: 853122, Ep.Steps: 1000, Score: 1313.72, Avg.Score: 970.55, Time: 13:04:33\n",
      "Ep.: 1055, Total Steps: 854122, Ep.Steps: 1000, Score: 1317.05, Avg.Score: 973.81, Time: 13:05:23\n",
      "Ep.: 1056, Total Steps: 855122, Ep.Steps: 1000, Score: 1403.81, Avg.Score: 978.54, Time: 13:06:13\n",
      "Ep.: 1057, Total Steps: 856122, Ep.Steps: 1000, Score: 1168.10, Avg.Score: 982.17, Time: 13:07:03\n",
      "Ep.: 1058, Total Steps: 857122, Ep.Steps: 1000, Score: 1386.24, Avg.Score: 986.53, Time: 13:07:54\n",
      "Ep.: 1059, Total Steps: 858122, Ep.Steps: 1000, Score: 1347.34, Avg.Score: 993.63, Time: 13:08:45\n",
      "Ep.: 1060, Total Steps: 859122, Ep.Steps: 1000, Score: 1292.39, Avg.Score: 998.51, Time: 13:09:35\n",
      "Ep.: 1061, Total Steps: 860122, Ep.Steps: 1000, Score: 1204.51, Avg.Score: 1001.19, Time: 13:10:25\n",
      "Ep.: 1062, Total Steps: 861122, Ep.Steps: 1000, Score: 945.62, Avg.Score: 1002.75, Time: 13:11:15\n",
      "Ep.: 1063, Total Steps: 862122, Ep.Steps: 1000, Score: 1230.38, Avg.Score: 1005.87, Time: 13:12:06\n",
      "Ep.: 1064, Total Steps: 863122, Ep.Steps: 1000, Score: 1229.63, Avg.Score: 1010.64, Time: 13:12:56\n",
      "Ep.: 1065, Total Steps: 864122, Ep.Steps: 1000, Score: 1343.72, Avg.Score: 1014.43, Time: 13:13:46\n",
      "Ep.: 1066, Total Steps: 865122, Ep.Steps: 1000, Score: 1336.45, Avg.Score: 1019.26, Time: 13:14:37\n",
      "Ep.: 1067, Total Steps: 866122, Ep.Steps: 1000, Score: 1326.71, Avg.Score: 1025.19, Time: 13:15:40\n",
      "Ep.: 1068, Total Steps: 867122, Ep.Steps: 1000, Score: 1370.15, Avg.Score: 1031.79, Time: 13:16:33\n",
      "Ep.: 1069, Total Steps: 868122, Ep.Steps: 1000, Score: 1363.47, Avg.Score: 1037.88, Time: 13:17:25\n",
      "Ep.: 1070, Total Steps: 869122, Ep.Steps: 1000, Score: 1396.88, Avg.Score: 1043.13, Time: 13:18:17\n",
      "Ep.: 1071, Total Steps: 870122, Ep.Steps: 1000, Score: 1353.67, Avg.Score: 1048.59, Time: 13:19:09\n",
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      "Ep.: 1080, Total Steps: 879122, Ep.Steps: 1000, Score: 1108.98, Avg.Score: 1074.92, Time: 13:26:44\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1122, Total Steps: 921122, Ep.Steps: 1000, Score: 1469.33, Avg.Score: 1245.02, Time: 14:03:22\n",
      "Ep.: 1123, Total Steps: 922122, Ep.Steps: 1000, Score: 1378.09, Avg.Score: 1246.30, Time: 14:04:12\n",
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      "Ep.: 1146, Total Steps: 945122, Ep.Steps: 1000, Score: 1713.50, Avg.Score: 1363.30, Time: 14:24:04\n",
      "Ep.: 1147, Total Steps: 946122, Ep.Steps: 1000, Score: 1658.51, Avg.Score: 1370.99, Time: 14:24:57\n",
      "Ep.: 1148, Total Steps: 947122, Ep.Steps: 1000, Score: 1641.62, Avg.Score: 1378.14, Time: 14:25:50\n",
      "Ep.: 1149, Total Steps: 948122, Ep.Steps: 1000, Score: 1647.13, Avg.Score: 1381.10, Time: 14:26:43\n",
      "Ep.: 1150, Total Steps: 949122, Ep.Steps: 1000, Score: 1701.30, Avg.Score: 1384.85, Time: 14:27:40\n",
      "Ep.: 1151, Total Steps: 950122, Ep.Steps: 1000, Score: 1681.98, Avg.Score: 1388.25, Time: 14:28:32\n",
      "Ep.: 1152, Total Steps: 951122, Ep.Steps: 1000, Score: 1642.19, Avg.Score: 1392.11, Time: 14:29:24\n",
      "Ep.: 1153, Total Steps: 952122, Ep.Steps: 1000, Score: 1712.82, Avg.Score: 1395.42, Time: 14:30:22\n",
      "Ep.: 1154, Total Steps: 953122, Ep.Steps: 1000, Score: 1734.28, Avg.Score: 1399.63, Time: 14:31:15\n",
      "Ep.: 1155, Total Steps: 954122, Ep.Steps: 1000, Score: 1717.23, Avg.Score: 1403.63, Time: 14:32:07\n",
      "Ep.: 1156, Total Steps: 955122, Ep.Steps: 1000, Score: 1677.28, Avg.Score: 1406.37, Time: 14:32:59\n",
      "Ep.: 1157, Total Steps: 956122, Ep.Steps: 1000, Score: 1685.13, Avg.Score: 1411.54, Time: 14:33:50\n",
      "Ep.: 1158, Total Steps: 957122, Ep.Steps: 1000, Score: 1715.28, Avg.Score: 1414.83, Time: 14:34:41\n",
      "Ep.: 1159, Total Steps: 958122, Ep.Steps: 1000, Score: 1698.80, Avg.Score: 1418.34, Time: 14:35:31\n",
      "Ep.: 1160, Total Steps: 959122, Ep.Steps: 1000, Score: 1694.04, Avg.Score: 1422.36, Time: 14:36:22\n",
      "Ep.: 1161, Total Steps: 960122, Ep.Steps: 1000, Score: 1746.19, Avg.Score: 1427.78, Time: 14:37:12\n",
      "Ep.: 1162, Total Steps: 961122, Ep.Steps: 1000, Score: 1636.26, Avg.Score: 1434.68, Time: 14:38:03\n",
      "Ep.: 1163, Total Steps: 962122, Ep.Steps: 1000, Score: 1645.51, Avg.Score: 1438.83, Time: 14:38:53\n",
      "Ep.: 1164, Total Steps: 963122, Ep.Steps: 1000, Score: 1763.06, Avg.Score: 1444.17, Time: 14:39:44\n",
      "Ep.: 1165, Total Steps: 964122, Ep.Steps: 1000, Score: 1650.74, Avg.Score: 1447.24, Time: 14:40:34\n",
      "Ep.: 1166, Total Steps: 965122, Ep.Steps: 1000, Score: 1636.50, Avg.Score: 1450.24, Time: 14:41:24\n",
      "Ep.: 1167, Total Steps: 966122, Ep.Steps: 1000, Score: 997.55, Avg.Score: 1446.95, Time: 14:42:15\n",
      "Ep.: 1168, Total Steps: 967122, Ep.Steps: 1000, Score: 1713.53, Avg.Score: 1450.38, Time: 14:43:06\n",
      "Ep.: 1169, Total Steps: 968122, Ep.Steps: 1000, Score: 1713.09, Avg.Score: 1453.88, Time: 14:43:59\n",
      "Ep.: 1170, Total Steps: 969122, Ep.Steps: 1000, Score: 1690.62, Avg.Score: 1456.81, Time: 14:44:51\n",
      "Ep.: 1171, Total Steps: 970122, Ep.Steps: 1000, Score: 1555.59, Avg.Score: 1458.83, Time: 14:45:41\n",
      "Ep.: 1172, Total Steps: 971122, Ep.Steps: 1000, Score: 1537.44, Avg.Score: 1460.58, Time: 14:46:33\n",
      "Ep.: 1173, Total Steps: 972122, Ep.Steps: 1000, Score: 1654.54, Avg.Score: 1462.84, Time: 14:47:23\n",
      "Ep.: 1174, Total Steps: 973122, Ep.Steps: 1000, Score: 1641.96, Avg.Score: 1467.14, Time: 14:48:15\n",
      "Ep.: 1175, Total Steps: 974122, Ep.Steps: 1000, Score: 1516.62, Avg.Score: 1473.67, Time: 14:49:06\n",
      "Ep.: 1176, Total Steps: 975122, Ep.Steps: 1000, Score: 1568.52, Avg.Score: 1475.70, Time: 14:49:57\n",
      "Ep.: 1177, Total Steps: 976122, Ep.Steps: 1000, Score: 1617.38, Avg.Score: 1479.19, Time: 14:50:48\n",
      "Ep.: 1178, Total Steps: 977122, Ep.Steps: 1000, Score: 1747.28, Avg.Score: 1485.56, Time: 14:51:41\n",
      "Ep.: 1179, Total Steps: 978122, Ep.Steps: 1000, Score: 1614.57, Avg.Score: 1490.72, Time: 14:52:38\n",
      "Ep.: 1180, Total Steps: 979122, Ep.Steps: 1000, Score: 1739.69, Avg.Score: 1497.03, Time: 14:53:33\n",
      "Ep.: 1181, Total Steps: 980122, Ep.Steps: 1000, Score: 1581.91, Avg.Score: 1500.43, Time: 14:54:26\n",
      "Ep.: 1182, Total Steps: 981122, Ep.Steps: 1000, Score: 1737.83, Avg.Score: 1505.10, Time: 14:55:19\n",
      "Ep.: 1183, Total Steps: 982122, Ep.Steps: 1000, Score: 1720.16, Avg.Score: 1512.95, Time: 14:56:11\n",
      "Ep.: 1184, Total Steps: 983122, Ep.Steps: 1000, Score: 1603.23, Avg.Score: 1517.93, Time: 14:57:06\n",
      "Ep.: 1185, Total Steps: 984122, Ep.Steps: 1000, Score: 1695.83, Avg.Score: 1521.79, Time: 14:58:02\n",
      "Ep.: 1186, Total Steps: 985122, Ep.Steps: 1000, Score: 1508.47, Avg.Score: 1523.84, Time: 14:58:56\n",
      "Ep.: 1187, Total Steps: 986122, Ep.Steps: 1000, Score: 1535.61, Avg.Score: 1526.21, Time: 14:59:51\n",
      "Ep.: 1188, Total Steps: 987122, Ep.Steps: 1000, Score: 1624.47, Avg.Score: 1534.66, Time: 15:00:44\n",
      "Ep.: 1189, Total Steps: 988122, Ep.Steps: 1000, Score: 1761.73, Avg.Score: 1538.58, Time: 15:01:36\n",
      "Ep.: 1190, Total Steps: 989122, Ep.Steps: 1000, Score: 1691.80, Avg.Score: 1541.29, Time: 15:02:30\n",
      "Ep.: 1191, Total Steps: 990122, Ep.Steps: 1000, Score: 1681.17, Avg.Score: 1547.10, Time: 15:03:29\n",
      "Ep.: 1192, Total Steps: 991122, Ep.Steps: 1000, Score: 1590.76, Avg.Score: 1549.21, Time: 15:04:23\n",
      "Ep.: 1193, Total Steps: 992122, Ep.Steps: 1000, Score: 1686.67, Avg.Score: 1553.39, Time: 15:05:14\n",
      "Ep.: 1194, Total Steps: 993122, Ep.Steps: 1000, Score: 1577.64, Avg.Score: 1555.82, Time: 15:06:13\n",
      "Ep.: 1195, Total Steps: 994122, Ep.Steps: 1000, Score: 1597.82, Avg.Score: 1559.73, Time: 15:07:09\n",
      "Ep.: 1196, Total Steps: 995122, Ep.Steps: 1000, Score: 1654.40, Avg.Score: 1565.76, Time: 15:08:07\n",
      "Ep.: 1197, Total Steps: 996122, Ep.Steps: 1000, Score: 1687.44, Avg.Score: 1570.82, Time: 15:09:01\n",
      "Ep.: 1198, Total Steps: 997122, Ep.Steps: 1000, Score: 1681.61, Avg.Score: 1573.17, Time: 15:09:58\n",
      "Ep.: 1199, Total Steps: 998122, Ep.Steps: 1000, Score: 1659.76, Avg.Score: 1574.74, Time: 15:10:56\n",
      "Ep.: 1200, Total Steps: 999122, Ep.Steps: 1000, Score: 1564.89, Avg.Score: 1575.53, Time: 15:11:54\n",
      "Ep.: 1201, Total Steps: 1000122, Ep.Steps: 1000, Score: 1697.36, Avg.Score: 1580.06, Time: 15:12:51\n",
      "Ep.: 1202, Total Steps: 1001122, Ep.Steps: 1000, Score: 1587.98, Avg.Score: 1581.40, Time: 15:13:48\n",
      "Ep.: 1203, Total Steps: 1002122, Ep.Steps: 1000, Score: 1563.90, Avg.Score: 1582.59, Time: 15:14:45\n",
      "Ep.: 1204, Total Steps: 1003122, Ep.Steps: 1000, Score: 1604.28, Avg.Score: 1586.29, Time: 15:15:43\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1205, Total Steps: 1004122, Ep.Steps: 1000, Score: 1635.96, Avg.Score: 1589.12, Time: 15:16:37\n",
      "Ep.: 1206, Total Steps: 1005122, Ep.Steps: 1000, Score: 1564.70, Avg.Score: 1590.79, Time: 15:17:36\n",
      "Ep.: 1207, Total Steps: 1006122, Ep.Steps: 1000, Score: 1597.87, Avg.Score: 1591.73, Time: 15:18:33\n",
      "Ep.: 1208, Total Steps: 1007122, Ep.Steps: 1000, Score: 1651.89, Avg.Score: 1594.54, Time: 15:19:31\n",
      "Ep.: 1209, Total Steps: 1008122, Ep.Steps: 1000, Score: 1708.88, Avg.Score: 1596.85, Time: 15:20:29\n",
      "Ep.: 1210, Total Steps: 1009122, Ep.Steps: 1000, Score: 1744.59, Avg.Score: 1599.58, Time: 15:21:25\n",
      "Ep.: 1211, Total Steps: 1010122, Ep.Steps: 1000, Score: 1631.19, Avg.Score: 1601.20, Time: 15:22:23\n",
      "Ep.: 1212, Total Steps: 1011122, Ep.Steps: 1000, Score: 1643.36, Avg.Score: 1602.35, Time: 15:23:23\n",
      "Ep.: 1213, Total Steps: 1012122, Ep.Steps: 1000, Score: 1707.81, Avg.Score: 1605.87, Time: 15:24:21\n",
      "Ep.: 1214, Total Steps: 1013122, Ep.Steps: 1000, Score: 1640.97, Avg.Score: 1608.03, Time: 15:25:19\n",
      "Ep.: 1215, Total Steps: 1014122, Ep.Steps: 1000, Score: 1649.00, Avg.Score: 1610.96, Time: 15:26:16\n",
      "Ep.: 1216, Total Steps: 1015122, Ep.Steps: 1000, Score: 1673.18, Avg.Score: 1612.96, Time: 15:27:14\n",
      "Ep.: 1217, Total Steps: 1016122, Ep.Steps: 1000, Score: 1621.59, Avg.Score: 1613.86, Time: 15:28:12\n",
      "Ep.: 1218, Total Steps: 1017122, Ep.Steps: 1000, Score: 1648.72, Avg.Score: 1614.84, Time: 15:29:14\n",
      "Ep.: 1219, Total Steps: 1018122, Ep.Steps: 1000, Score: 1675.95, Avg.Score: 1615.93, Time: 15:30:10\n",
      "Ep.: 1220, Total Steps: 1019122, Ep.Steps: 1000, Score: 1644.26, Avg.Score: 1617.87, Time: 15:31:02\n",
      "Ep.: 1221, Total Steps: 1020122, Ep.Steps: 1000, Score: 1679.00, Avg.Score: 1620.10, Time: 15:32:00\n",
      "Ep.: 1222, Total Steps: 1021122, Ep.Steps: 1000, Score: 1601.34, Avg.Score: 1621.42, Time: 15:32:57\n",
      "Ep.: 1223, Total Steps: 1022122, Ep.Steps: 1000, Score: 1666.74, Avg.Score: 1624.30, Time: 15:33:55\n",
      "Ep.: 1224, Total Steps: 1023122, Ep.Steps: 1000, Score: 1682.48, Avg.Score: 1626.11, Time: 15:34:52\n",
      "Ep.: 1225, Total Steps: 1024122, Ep.Steps: 1000, Score: 1721.84, Avg.Score: 1627.35, Time: 15:35:50\n",
      "Ep.: 1226, Total Steps: 1025122, Ep.Steps: 1000, Score: 1676.46, Avg.Score: 1629.03, Time: 15:36:46\n",
      "Ep.: 1227, Total Steps: 1026122, Ep.Steps: 1000, Score: 1753.41, Avg.Score: 1631.33, Time: 15:37:43\n",
      "Ep.: 1228, Total Steps: 1027122, Ep.Steps: 1000, Score: 1648.48, Avg.Score: 1636.81, Time: 15:38:40\n",
      "Ep.: 1229, Total Steps: 1028122, Ep.Steps: 1000, Score: 1721.61, Avg.Score: 1638.07, Time: 15:39:36\n",
      "Ep.: 1230, Total Steps: 1029122, Ep.Steps: 1000, Score: 1763.05, Avg.Score: 1640.85, Time: 15:40:41\n",
      "Ep.: 1231, Total Steps: 1030122, Ep.Steps: 1000, Score: 1739.98, Avg.Score: 1642.15, Time: 15:41:36\n",
      "Ep.: 1232, Total Steps: 1031122, Ep.Steps: 1000, Score: 1678.87, Avg.Score: 1643.08, Time: 15:42:29\n",
      "Ep.: 1233, Total Steps: 1032122, Ep.Steps: 1000, Score: 1735.76, Avg.Score: 1644.53, Time: 15:43:22\n",
      "Ep.: 1234, Total Steps: 1033122, Ep.Steps: 1000, Score: 1769.22, Avg.Score: 1647.07, Time: 15:44:13\n",
      "Ep.: 1235, Total Steps: 1034122, Ep.Steps: 1000, Score: 1788.12, Avg.Score: 1650.87, Time: 15:45:19\n",
      "Ep.: 1236, Total Steps: 1035122, Ep.Steps: 1000, Score: 1730.45, Avg.Score: 1653.24, Time: 15:46:11\n",
      "Ep.: 1237, Total Steps: 1036122, Ep.Steps: 1000, Score: 1740.30, Avg.Score: 1654.73, Time: 15:47:03\n",
      "Ep.: 1238, Total Steps: 1037122, Ep.Steps: 1000, Score: 1670.20, Avg.Score: 1655.33, Time: 15:47:54\n",
      "Ep.: 1239, Total Steps: 1038122, Ep.Steps: 1000, Score: 1734.01, Avg.Score: 1656.74, Time: 15:48:45\n",
      "Ep.: 1240, Total Steps: 1039122, Ep.Steps: 1000, Score: 1718.75, Avg.Score: 1657.95, Time: 15:49:38\n",
      "Ep.: 1241, Total Steps: 1040122, Ep.Steps: 1000, Score: 1689.16, Avg.Score: 1658.75, Time: 15:50:33\n",
      "Ep.: 1242, Total Steps: 1041122, Ep.Steps: 1000, Score: 1696.13, Avg.Score: 1659.18, Time: 15:51:38\n",
      "Ep.: 1243, Total Steps: 1042122, Ep.Steps: 1000, Score: 1726.95, Avg.Score: 1659.88, Time: 15:52:42\n",
      "Ep.: 1244, Total Steps: 1043122, Ep.Steps: 1000, Score: 1790.15, Avg.Score: 1661.05, Time: 15:53:52\n",
      "Ep.: 1245, Total Steps: 1044122, Ep.Steps: 1000, Score: 1725.55, Avg.Score: 1662.92, Time: 15:54:59\n",
      "Ep.: 1246, Total Steps: 1045122, Ep.Steps: 1000, Score: 1748.97, Avg.Score: 1663.28, Time: 15:56:02\n",
      "Ep.: 1247, Total Steps: 1046122, Ep.Steps: 1000, Score: 1747.14, Avg.Score: 1664.16, Time: 15:57:07\n",
      "Ep.: 1248, Total Steps: 1047122, Ep.Steps: 1000, Score: 1760.23, Avg.Score: 1665.35, Time: 15:58:06\n",
      "Ep.: 1249, Total Steps: 1048122, Ep.Steps: 1000, Score: 1741.46, Avg.Score: 1666.29, Time: 15:59:01\n",
      "Ep.: 1250, Total Steps: 1049122, Ep.Steps: 1000, Score: 1766.21, Avg.Score: 1666.94, Time: 15:59:54\n",
      "Ep.: 1251, Total Steps: 1050122, Ep.Steps: 1000, Score: 1762.79, Avg.Score: 1667.75, Time: 16:00:47\n",
      "Ep.: 1252, Total Steps: 1051122, Ep.Steps: 1000, Score: 1775.56, Avg.Score: 1669.09, Time: 16:01:40\n",
      "Ep.: 1253, Total Steps: 1052122, Ep.Steps: 1000, Score: 1740.44, Avg.Score: 1669.36, Time: 16:02:42\n",
      "Ep.: 1254, Total Steps: 1053122, Ep.Steps: 1000, Score: 1762.04, Avg.Score: 1669.64, Time: 16:03:40\n",
      "Ep.: 1255, Total Steps: 1054122, Ep.Steps: 1000, Score: 1739.94, Avg.Score: 1669.87, Time: 16:04:37\n",
      "Ep.: 1256, Total Steps: 1055122, Ep.Steps: 1000, Score: 1791.60, Avg.Score: 1671.01, Time: 16:05:29\n",
      "Ep.: 1257, Total Steps: 1056122, Ep.Steps: 1000, Score: 1747.95, Avg.Score: 1671.64, Time: 16:06:32\n",
      "Ep.: 1258, Total Steps: 1057122, Ep.Steps: 1000, Score: 1697.81, Avg.Score: 1671.46, Time: 16:07:38\n",
      "Ep.: 1259, Total Steps: 1058122, Ep.Steps: 1000, Score: 1659.89, Avg.Score: 1671.07, Time: 16:08:42\n",
      "Ep.: 1260, Total Steps: 1059122, Ep.Steps: 1000, Score: 1721.22, Avg.Score: 1671.35, Time: 16:09:49\n",
      "Ep.: 1261, Total Steps: 1060122, Ep.Steps: 1000, Score: 1728.84, Avg.Score: 1671.17, Time: 16:10:54\n",
      "Ep.: 1262, Total Steps: 1061122, Ep.Steps: 1000, Score: 1735.26, Avg.Score: 1672.16, Time: 16:11:56\n",
      "Ep.: 1263, Total Steps: 1062122, Ep.Steps: 1000, Score: 1732.36, Avg.Score: 1673.03, Time: 16:12:58\n",
      "Ep.: 1264, Total Steps: 1063122, Ep.Steps: 1000, Score: 1789.08, Avg.Score: 1673.29, Time: 16:13:54\n",
      "Ep.: 1265, Total Steps: 1064122, Ep.Steps: 1000, Score: 1761.96, Avg.Score: 1674.40, Time: 16:14:59\n",
      "Ep.: 1266, Total Steps: 1065122, Ep.Steps: 1000, Score: 1716.71, Avg.Score: 1675.20, Time: 16:16:03\n",
      "Ep.: 1267, Total Steps: 1066122, Ep.Steps: 1000, Score: 1707.44, Avg.Score: 1682.30, Time: 16:17:04\n",
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      "Ep.: 1270, Total Steps: 1069122, Ep.Steps: 1000, Score: 1728.74, Avg.Score: 1683.29, Time: 16:20:17\n",
      "Ep.: 1271, Total Steps: 1070122, Ep.Steps: 1000, Score: 1809.92, Avg.Score: 1685.83, Time: 16:21:11\n",
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      "Ep.: 1277, Total Steps: 1076122, Ep.Steps: 1000, Score: 1737.86, Avg.Score: 1696.70, Time: 16:27:36\n",
      "Ep.: 1278, Total Steps: 1077122, Ep.Steps: 1000, Score: 1748.19, Avg.Score: 1696.71, Time: 16:28:38\n",
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      "Ep.: 1280, Total Steps: 1079122, Ep.Steps: 1000, Score: 1777.50, Avg.Score: 1698.41, Time: 16:30:42\n",
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      "Ep.: 1284, Total Steps: 1083122, Ep.Steps: 1000, Score: 1732.50, Avg.Score: 1702.36, Time: 16:34:38\n",
      "Ep.: 1285, Total Steps: 1084122, Ep.Steps: 1000, Score: 1767.22, Avg.Score: 1703.08, Time: 16:35:38\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1287, Total Steps: 1086122, Ep.Steps: 1000, Score: 1745.87, Avg.Score: 1707.91, Time: 16:37:23\n",
      "Ep.: 1288, Total Steps: 1087122, Ep.Steps: 1000, Score: 1737.50, Avg.Score: 1709.04, Time: 16:38:16\n",
      "Ep.: 1289, Total Steps: 1088122, Ep.Steps: 1000, Score: 1730.80, Avg.Score: 1708.74, Time: 16:39:08\n",
      "Ep.: 1290, Total Steps: 1089122, Ep.Steps: 1000, Score: 1760.39, Avg.Score: 1709.42, Time: 16:40:01\n",
      "Ep.: 1291, Total Steps: 1090122, Ep.Steps: 1000, Score: 1757.03, Avg.Score: 1710.18, Time: 16:40:52\n",
      "Ep.: 1292, Total Steps: 1091122, Ep.Steps: 1000, Score: 1791.80, Avg.Score: 1712.19, Time: 16:41:43\n",
      "Ep.: 1293, Total Steps: 1092122, Ep.Steps: 1000, Score: 1786.20, Avg.Score: 1713.19, Time: 16:42:34\n",
      "Ep.: 1294, Total Steps: 1093122, Ep.Steps: 1000, Score: 1769.95, Avg.Score: 1715.11, Time: 16:43:25\n",
      "Ep.: 1295, Total Steps: 1094122, Ep.Steps: 1000, Score: 1784.55, Avg.Score: 1716.98, Time: 16:44:16\n",
      "Ep.: 1296, Total Steps: 1095122, Ep.Steps: 1000, Score: 1779.02, Avg.Score: 1718.22, Time: 16:45:07\n",
      "Ep.: 1297, Total Steps: 1096122, Ep.Steps: 1000, Score: 1809.57, Avg.Score: 1719.44, Time: 16:45:58\n",
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      "Ep.: 1299, Total Steps: 1098122, Ep.Steps: 1000, Score: 1765.78, Avg.Score: 1721.81, Time: 16:47:40\n",
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      "Ep.: 1306, Total Steps: 1105122, Ep.Steps: 1000, Score: 1784.24, Avg.Score: 1735.58, Time: 16:53:37\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1369, Total Steps: 1168122, Ep.Steps: 1000, Score: 2051.66, Avg.Score: 1859.07, Time: 17:47:19\n",
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      "Ep.: 1371, Total Steps: 1170122, Ep.Steps: 1000, Score: 1998.59, Avg.Score: 1862.89, Time: 17:49:00\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1451, Total Steps: 1250122, Ep.Steps: 1000, Score: 2143.05, Avg.Score: 2048.78, Time: 18:58:13\n",
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      "Ep.: 1468, Total Steps: 1267122, Ep.Steps: 1000, Score: 2166.40, Avg.Score: 2079.40, Time: 19:12:28\n",
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      "Ep.: 1531, Total Steps: 1330122, Ep.Steps: 1000, Score: 2287.35, Avg.Score: 2187.48, Time: 20:05:29\n",
      "Ep.: 1532, Total Steps: 1331122, Ep.Steps: 1000, Score: 2282.61, Avg.Score: 2189.81, Time: 20:06:20\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1533, Total Steps: 1332122, Ep.Steps: 1000, Score: 2266.05, Avg.Score: 2192.45, Time: 20:07:11\n",
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      "Ep.: 1540, Total Steps: 1339122, Ep.Steps: 1000, Score: 2220.98, Avg.Score: 2200.68, Time: 20:13:06\n",
      "Ep.: 1541, Total Steps: 1340122, Ep.Steps: 1000, Score: 2289.13, Avg.Score: 2202.80, Time: 20:13:56\n",
      "Ep.: 1542, Total Steps: 1341122, Ep.Steps: 1000, Score: 2279.50, Avg.Score: 2204.44, Time: 20:14:47\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1615, Total Steps: 1414122, Ep.Steps: 1000, Score: 2212.61, Avg.Score: 2286.63, Time: 21:16:15\n",
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      "Ep.: 1628, Total Steps: 1427122, Ep.Steps: 1000, Score: 2350.12, Avg.Score: 2299.58, Time: 21:27:10\n",
      "Ep.: 1629, Total Steps: 1428122, Ep.Steps: 1000, Score: 2366.10, Avg.Score: 2300.37, Time: 21:28:00\n",
      "Ep.: 1630, Total Steps: 1429122, Ep.Steps: 1000, Score: 2358.39, Avg.Score: 2301.20, Time: 21:28:51\n",
      "Ep.: 1631, Total Steps: 1430122, Ep.Steps: 1000, Score: 2380.36, Avg.Score: 2302.13, Time: 21:29:41\n",
      "Ep.: 1632, Total Steps: 1431122, Ep.Steps: 1000, Score: 2313.15, Avg.Score: 2302.44, Time: 21:30:31\n",
      "Ep.: 1633, Total Steps: 1432122, Ep.Steps: 1000, Score: 2381.83, Avg.Score: 2303.59, Time: 21:31:21\n",
      "Ep.: 1634, Total Steps: 1433122, Ep.Steps: 1000, Score: 2375.62, Avg.Score: 2304.68, Time: 21:32:12\n",
      "Ep.: 1635, Total Steps: 1434122, Ep.Steps: 1000, Score: 2318.90, Avg.Score: 2305.32, Time: 21:33:07\n",
      "Ep.: 1636, Total Steps: 1435122, Ep.Steps: 1000, Score: 2338.78, Avg.Score: 2306.26, Time: 21:34:02\n",
      "Ep.: 1637, Total Steps: 1436122, Ep.Steps: 1000, Score: 2348.97, Avg.Score: 2307.28, Time: 21:34:52\n",
      "Ep.: 1638, Total Steps: 1437122, Ep.Steps: 1000, Score: 2370.93, Avg.Score: 2308.72, Time: 21:35:43\n",
      "Ep.: 1639, Total Steps: 1438122, Ep.Steps: 1000, Score: 2355.18, Avg.Score: 2309.50, Time: 21:36:33\n",
      "Ep.: 1640, Total Steps: 1439122, Ep.Steps: 1000, Score: 2335.30, Avg.Score: 2310.65, Time: 21:37:24\n",
      "Ep.: 1641, Total Steps: 1440122, Ep.Steps: 1000, Score: 2362.49, Avg.Score: 2311.38, Time: 21:38:14\n",
      "Ep.: 1642, Total Steps: 1441122, Ep.Steps: 1000, Score: 2385.41, Avg.Score: 2312.44, Time: 21:39:04\n",
      "Ep.: 1643, Total Steps: 1442122, Ep.Steps: 1000, Score: 2365.84, Avg.Score: 2313.46, Time: 21:39:55\n",
      "Ep.: 1644, Total Steps: 1443122, Ep.Steps: 1000, Score: 2302.31, Avg.Score: 2314.22, Time: 21:40:45\n",
      "Ep.: 1645, Total Steps: 1444122, Ep.Steps: 1000, Score: 2404.36, Avg.Score: 2315.89, Time: 21:41:35\n",
      "Ep.: 1646, Total Steps: 1445122, Ep.Steps: 1000, Score: 2396.84, Avg.Score: 2316.98, Time: 21:42:26\n",
      "Ep.: 1647, Total Steps: 1446122, Ep.Steps: 1000, Score: 2407.14, Avg.Score: 2319.15, Time: 21:43:16\n",
      "Ep.: 1648, Total Steps: 1447122, Ep.Steps: 1000, Score: 2359.60, Avg.Score: 2320.61, Time: 21:44:06\n",
      "Ep.: 1649, Total Steps: 1448122, Ep.Steps: 1000, Score: 2385.28, Avg.Score: 2321.89, Time: 21:44:56\n",
      "Ep.: 1650, Total Steps: 1449122, Ep.Steps: 1000, Score: 2359.04, Avg.Score: 2322.47, Time: 21:45:47\n",
      "Ep.: 1651, Total Steps: 1450122, Ep.Steps: 1000, Score: 2399.66, Avg.Score: 2323.93, Time: 21:46:37\n",
      "Ep.: 1652, Total Steps: 1451122, Ep.Steps: 1000, Score: 2372.75, Avg.Score: 2324.78, Time: 21:47:27\n",
      "Ep.: 1653, Total Steps: 1452122, Ep.Steps: 1000, Score: 2360.41, Avg.Score: 2325.17, Time: 21:48:18\n",
      "Ep.: 1654, Total Steps: 1453122, Ep.Steps: 1000, Score: 2376.66, Avg.Score: 2326.49, Time: 21:49:08\n",
      "Ep.: 1655, Total Steps: 1454122, Ep.Steps: 1000, Score: 2413.86, Avg.Score: 2327.77, Time: 21:49:58\n",
      "Ep.: 1656, Total Steps: 1455122, Ep.Steps: 1000, Score: 2361.39, Avg.Score: 2328.23, Time: 21:50:48\n",
      "Ep.: 1657, Total Steps: 1456122, Ep.Steps: 1000, Score: 2386.80, Avg.Score: 2329.30, Time: 21:51:39\n",
      "Ep.: 1658, Total Steps: 1457122, Ep.Steps: 1000, Score: 2411.44, Avg.Score: 2330.12, Time: 21:52:29\n",
      "Ep.: 1659, Total Steps: 1458122, Ep.Steps: 1000, Score: 2341.61, Avg.Score: 2330.41, Time: 21:53:19\n",
      "Ep.: 1660, Total Steps: 1459122, Ep.Steps: 1000, Score: 2375.45, Avg.Score: 2331.71, Time: 21:54:12\n",
      "Ep.: 1661, Total Steps: 1460122, Ep.Steps: 1000, Score: 2423.02, Avg.Score: 2333.42, Time: 21:55:02\n",
      "Ep.: 1662, Total Steps: 1461122, Ep.Steps: 1000, Score: 2361.15, Avg.Score: 2334.19, Time: 21:55:53\n",
      "Ep.: 1663, Total Steps: 1462122, Ep.Steps: 1000, Score: 2402.76, Avg.Score: 2335.90, Time: 21:56:43\n",
      "Ep.: 1664, Total Steps: 1463122, Ep.Steps: 1000, Score: 2407.41, Avg.Score: 2337.21, Time: 21:57:34\n",
      "Ep.: 1665, Total Steps: 1464122, Ep.Steps: 1000, Score: 2419.50, Avg.Score: 2339.61, Time: 21:58:24\n",
      "Ep.: 1666, Total Steps: 1465122, Ep.Steps: 1000, Score: 2404.00, Avg.Score: 2341.34, Time: 21:59:15\n",
      "Ep.: 1667, Total Steps: 1466122, Ep.Steps: 1000, Score: 2398.36, Avg.Score: 2343.05, Time: 22:00:05\n",
      "Ep.: 1668, Total Steps: 1467122, Ep.Steps: 1000, Score: 2453.19, Avg.Score: 2344.69, Time: 22:00:55\n",
      "Ep.: 1669, Total Steps: 1468122, Ep.Steps: 1000, Score: 2413.85, Avg.Score: 2346.42, Time: 22:01:46\n",
      "Ep.: 1670, Total Steps: 1469122, Ep.Steps: 1000, Score: 2387.77, Avg.Score: 2347.61, Time: 22:02:36\n",
      "Ep.: 1671, Total Steps: 1470122, Ep.Steps: 1000, Score: 2363.52, Avg.Score: 2347.96, Time: 22:03:26\n",
      "Ep.: 1672, Total Steps: 1471122, Ep.Steps: 1000, Score: 2417.92, Avg.Score: 2349.07, Time: 22:04:16\n",
      "Ep.: 1673, Total Steps: 1472122, Ep.Steps: 1000, Score: 2406.86, Avg.Score: 2350.12, Time: 22:05:07\n",
      "Ep.: 1674, Total Steps: 1473122, Ep.Steps: 1000, Score: 2467.47, Avg.Score: 2351.41, Time: 22:05:57\n",
      "Ep.: 1675, Total Steps: 1474122, Ep.Steps: 1000, Score: 2381.77, Avg.Score: 2351.98, Time: 22:06:47\n",
      "Ep.: 1676, Total Steps: 1475122, Ep.Steps: 1000, Score: 2418.37, Avg.Score: 2352.80, Time: 22:07:38\n",
      "Ep.: 1677, Total Steps: 1476122, Ep.Steps: 1000, Score: 2408.43, Avg.Score: 2353.65, Time: 22:08:28\n",
      "Ep.: 1678, Total Steps: 1477122, Ep.Steps: 1000, Score: 2359.44, Avg.Score: 2354.27, Time: 22:09:18\n",
      "Ep.: 1679, Total Steps: 1478122, Ep.Steps: 1000, Score: 2370.41, Avg.Score: 2354.79, Time: 22:10:09\n",
      "Ep.: 1680, Total Steps: 1479122, Ep.Steps: 1000, Score: 2362.56, Avg.Score: 2355.54, Time: 22:10:59\n",
      "Ep.: 1681, Total Steps: 1480122, Ep.Steps: 1000, Score: 2368.58, Avg.Score: 2355.75, Time: 22:11:49\n",
      "Ep.: 1682, Total Steps: 1481122, Ep.Steps: 1000, Score: 2325.54, Avg.Score: 2356.31, Time: 22:12:39\n",
      "Ep.: 1683, Total Steps: 1482122, Ep.Steps: 1000, Score: 2384.56, Avg.Score: 2357.34, Time: 22:13:29\n",
      "Ep.: 1684, Total Steps: 1483122, Ep.Steps: 1000, Score: 2324.43, Avg.Score: 2357.23, Time: 22:14:20\n",
      "Ep.: 1685, Total Steps: 1484122, Ep.Steps: 1000, Score: 2403.52, Avg.Score: 2358.10, Time: 22:15:10\n",
      "Ep.: 1686, Total Steps: 1485122, Ep.Steps: 1000, Score: 2433.58, Avg.Score: 2358.99, Time: 22:16:01\n",
      "Ep.: 1687, Total Steps: 1486122, Ep.Steps: 1000, Score: 2414.94, Avg.Score: 2360.24, Time: 22:16:51\n",
      "Ep.: 1688, Total Steps: 1487122, Ep.Steps: 1000, Score: 2333.60, Avg.Score: 2360.15, Time: 22:17:41\n",
      "Ep.: 1689, Total Steps: 1488122, Ep.Steps: 1000, Score: 2414.78, Avg.Score: 2361.32, Time: 22:18:31\n",
      "Ep.: 1690, Total Steps: 1489122, Ep.Steps: 1000, Score: 2381.26, Avg.Score: 2362.23, Time: 22:19:22\n",
      "Ep.: 1691, Total Steps: 1490122, Ep.Steps: 1000, Score: 2355.70, Avg.Score: 2363.03, Time: 22:20:12\n",
      "Ep.: 1692, Total Steps: 1491122, Ep.Steps: 1000, Score: 2458.65, Avg.Score: 2364.15, Time: 22:21:02\n",
      "Ep.: 1693, Total Steps: 1492122, Ep.Steps: 1000, Score: 2415.33, Avg.Score: 2364.92, Time: 22:21:53\n",
      "Ep.: 1694, Total Steps: 1493122, Ep.Steps: 1000, Score: 2382.93, Avg.Score: 2365.05, Time: 22:22:43\n",
      "Ep.: 1695, Total Steps: 1494122, Ep.Steps: 1000, Score: 2357.89, Avg.Score: 2365.24, Time: 22:23:34\n",
      "Ep.: 1696, Total Steps: 1495122, Ep.Steps: 1000, Score: 2402.17, Avg.Score: 2365.92, Time: 22:24:26\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1697, Total Steps: 1496122, Ep.Steps: 1000, Score: 2414.45, Avg.Score: 2367.04, Time: 22:25:17\n",
      "Ep.: 1698, Total Steps: 1497122, Ep.Steps: 1000, Score: 2418.75, Avg.Score: 2367.83, Time: 22:26:07\n",
      "Ep.: 1699, Total Steps: 1498122, Ep.Steps: 1000, Score: 2390.03, Avg.Score: 2368.61, Time: 22:26:58\n",
      "Ep.: 1700, Total Steps: 1499122, Ep.Steps: 1000, Score: 2400.73, Avg.Score: 2370.42, Time: 22:27:48\n",
      "Ep.: 1701, Total Steps: 1500122, Ep.Steps: 1000, Score: 2363.30, Avg.Score: 2370.68, Time: 22:28:39\n",
      "Ep.: 1702, Total Steps: 1501122, Ep.Steps: 1000, Score: 2291.71, Avg.Score: 2370.26, Time: 22:29:29\n",
      "Ep.: 1703, Total Steps: 1502122, Ep.Steps: 1000, Score: 2405.67, Avg.Score: 2371.20, Time: 22:30:19\n",
      "Ep.: 1704, Total Steps: 1503122, Ep.Steps: 1000, Score: 2410.64, Avg.Score: 2372.09, Time: 22:31:10\n",
      "Ep.: 1705, Total Steps: 1504122, Ep.Steps: 1000, Score: 2405.25, Avg.Score: 2372.51, Time: 22:32:00\n",
      "Ep.: 1706, Total Steps: 1505122, Ep.Steps: 1000, Score: 2423.75, Avg.Score: 2373.10, Time: 22:32:50\n",
      "Ep.: 1707, Total Steps: 1506122, Ep.Steps: 1000, Score: 2429.51, Avg.Score: 2374.09, Time: 22:33:41\n",
      "Ep.: 1708, Total Steps: 1507122, Ep.Steps: 1000, Score: 2440.02, Avg.Score: 2375.15, Time: 22:34:31\n",
      "Ep.: 1709, Total Steps: 1508122, Ep.Steps: 1000, Score: 2428.18, Avg.Score: 2375.84, Time: 22:35:22\n",
      "Ep.: 1710, Total Steps: 1509122, Ep.Steps: 1000, Score: 2396.26, Avg.Score: 2376.68, Time: 22:36:12\n",
      "Ep.: 1711, Total Steps: 1510122, Ep.Steps: 1000, Score: 2327.55, Avg.Score: 2376.42, Time: 22:37:02\n",
      "Ep.: 1712, Total Steps: 1511122, Ep.Steps: 1000, Score: 2382.30, Avg.Score: 2376.54, Time: 22:37:53\n",
      "Ep.: 1713, Total Steps: 1512122, Ep.Steps: 1000, Score: 2412.51, Avg.Score: 2376.99, Time: 22:38:43\n",
      "Ep.: 1714, Total Steps: 1513122, Ep.Steps: 1000, Score: 2351.94, Avg.Score: 2376.83, Time: 22:39:33\n",
      "Ep.: 1715, Total Steps: 1514122, Ep.Steps: 1000, Score: 2410.76, Avg.Score: 2378.81, Time: 22:40:24\n",
      "Ep.: 1716, Total Steps: 1515122, Ep.Steps: 1000, Score: 331.15, Avg.Score: 2358.44, Time: 22:41:14\n",
      "Ep.: 1717, Total Steps: 1516122, Ep.Steps: 1000, Score: 2432.65, Avg.Score: 2358.95, Time: 22:42:04\n",
      "Ep.: 1718, Total Steps: 1517122, Ep.Steps: 1000, Score: 2437.49, Avg.Score: 2359.82, Time: 22:42:55\n",
      "Ep.: 1719, Total Steps: 1518122, Ep.Steps: 1000, Score: 2420.88, Avg.Score: 2361.33, Time: 22:43:49\n",
      "Ep.: 1720, Total Steps: 1519122, Ep.Steps: 1000, Score: 2396.28, Avg.Score: 2361.67, Time: 22:44:41\n",
      "Ep.: 1721, Total Steps: 1520122, Ep.Steps: 1000, Score: 2461.01, Avg.Score: 2363.28, Time: 22:45:34\n",
      "Ep.: 1722, Total Steps: 1521122, Ep.Steps: 1000, Score: 2446.96, Avg.Score: 2364.22, Time: 22:46:27\n",
      "Ep.: 1723, Total Steps: 1522122, Ep.Steps: 1000, Score: 2446.73, Avg.Score: 2365.80, Time: 22:47:17\n",
      "Ep.: 1724, Total Steps: 1523122, Ep.Steps: 1000, Score: 2421.20, Avg.Score: 2366.80, Time: 22:48:07\n",
      "Ep.: 1725, Total Steps: 1524122, Ep.Steps: 1000, Score: 2500.90, Avg.Score: 2368.29, Time: 22:48:58\n",
      "Ep.: 1726, Total Steps: 1525122, Ep.Steps: 1000, Score: 2446.12, Avg.Score: 2368.96, Time: 22:49:48\n",
      "Ep.: 1727, Total Steps: 1526122, Ep.Steps: 1000, Score: 2455.36, Avg.Score: 2370.07, Time: 22:50:38\n",
      "Ep.: 1728, Total Steps: 1527122, Ep.Steps: 1000, Score: 2498.21, Avg.Score: 2371.55, Time: 22:51:29\n",
      "Ep.: 1729, Total Steps: 1528122, Ep.Steps: 1000, Score: 2497.14, Avg.Score: 2372.86, Time: 22:52:19\n",
      "Ep.: 1730, Total Steps: 1529122, Ep.Steps: 1000, Score: 2469.25, Avg.Score: 2373.97, Time: 22:53:09\n",
      "Ep.: 1731, Total Steps: 1530122, Ep.Steps: 1000, Score: 2440.47, Avg.Score: 2374.57, Time: 22:54:00\n",
      "Ep.: 1732, Total Steps: 1531122, Ep.Steps: 1000, Score: 2465.29, Avg.Score: 2376.10, Time: 22:54:52\n",
      "Ep.: 1733, Total Steps: 1532122, Ep.Steps: 1000, Score: 2414.52, Avg.Score: 2376.42, Time: 22:55:43\n",
      "Ep.: 1734, Total Steps: 1533122, Ep.Steps: 1000, Score: 2436.74, Avg.Score: 2377.03, Time: 22:56:33\n",
      "Ep.: 1735, Total Steps: 1534122, Ep.Steps: 1000, Score: 2445.47, Avg.Score: 2378.30, Time: 22:57:23\n",
      "Ep.: 1736, Total Steps: 1535122, Ep.Steps: 1000, Score: 2436.78, Avg.Score: 2379.28, Time: 22:58:14\n",
      "Ep.: 1737, Total Steps: 1536122, Ep.Steps: 1000, Score: 2477.18, Avg.Score: 2380.56, Time: 22:59:04\n",
      "Ep.: 1738, Total Steps: 1537122, Ep.Steps: 1000, Score: 2457.56, Avg.Score: 2381.43, Time: 22:59:54\n",
      "Ep.: 1739, Total Steps: 1538122, Ep.Steps: 1000, Score: 2435.76, Avg.Score: 2382.23, Time: 23:00:45\n",
      "Ep.: 1740, Total Steps: 1539122, Ep.Steps: 1000, Score: 2434.81, Avg.Score: 2383.23, Time: 23:01:35\n",
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      "Ep.: 1749, Total Steps: 1548122, Ep.Steps: 1000, Score: 2455.34, Avg.Score: 2391.66, Time: 23:09:08\n",
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     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Ep.: 1779, Total Steps: 1578122, Ep.Steps: 1000, Score: 2563.52, Avg.Score: 2433.67, Time: 23:34:19\n",
      "Ep.: 1780, Total Steps: 1579122, Ep.Steps: 1000, Score: 2582.60, Avg.Score: 2435.87, Time: 23:35:10\n",
      "Ep.: 1781, Total Steps: 1580122, Ep.Steps: 1000, Score: 2600.63, Avg.Score: 2438.19, Time: 23:36:00\n",
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      "Ep.: 1788, Total Steps: 1587122, Ep.Steps: 1000, Score: 2559.14, Avg.Score: 2452.62, Time: 23:41:53\n",
      "Ep.: 1789, Total Steps: 1588122, Ep.Steps: 1000, Score: 2610.85, Avg.Score: 2454.58, Time: 23:42:43\n",
      "Ep.: 1790, Total Steps: 1589122, Ep.Steps: 1000, Score: 2628.57, Avg.Score: 2457.06, Time: 23:43:33\n",
      "Ep.: 1791, Total Steps: 1590122, Ep.Steps: 1000, Score: 2630.60, Avg.Score: 2459.81, Time: 23:44:23\n",
      "Ep.: 1792, Total Steps: 1591122, Ep.Steps: 1000, Score: 2590.61, Avg.Score: 2461.13, Time: 23:45:13\n",
      "Ep.: 1793, Total Steps: 1592122, Ep.Steps: 1000, Score: 2594.21, Avg.Score: 2462.91, Time: 23:46:04\n",
      "Ep.: 1794, Total Steps: 1593122, Ep.Steps: 1000, Score: 2611.73, Avg.Score: 2465.20, Time: 23:46:54\n",
      "Ep.: 1795, Total Steps: 1594122, Ep.Steps: 1000, Score: 2585.45, Avg.Score: 2467.48, Time: 23:47:45\n",
      "Ep.: 1796, Total Steps: 1595122, Ep.Steps: 1000, Score: 2632.91, Avg.Score: 2469.79, Time: 23:48:35\n",
      "Ep.: 1797, Total Steps: 1596122, Ep.Steps: 1000, Score: 2636.45, Avg.Score: 2472.01, Time: 23:49:25\n",
      "Ep.: 1798, Total Steps: 1597122, Ep.Steps: 1000, Score: 2589.99, Avg.Score: 2473.72, Time: 23:50:15\n",
      "Ep.: 1799, Total Steps: 1598122, Ep.Steps: 1000, Score: 2594.30, Avg.Score: 2475.76, Time: 23:51:05\n",
      "Ep.: 1800, Total Steps: 1599122, Ep.Steps: 1000, Score: 2605.67, Avg.Score: 2477.81, Time: 23:51:56\n",
      "Ep.: 1801, Total Steps: 1600122, Ep.Steps: 1000, Score: 2577.40, Avg.Score: 2479.95, Time: 23:52:46\n",
      "Ep.: 1802, Total Steps: 1601122, Ep.Steps: 1000, Score: 2618.20, Avg.Score: 2483.22, Time: 23:53:37\n",
      "Ep.: 1803, Total Steps: 1602122, Ep.Steps: 1000, Score: 2606.14, Avg.Score: 2485.22, Time: 23:54:29\n",
      "Ep.: 1804, Total Steps: 1603122, Ep.Steps: 1000, Score: 2616.03, Avg.Score: 2487.28, Time: 23:55:19\n",
      "Ep.: 1805, Total Steps: 1604122, Ep.Steps: 1000, Score: 2622.58, Avg.Score: 2489.45, Time: 23:56:10\n",
      "Ep.: 1806, Total Steps: 1605122, Ep.Steps: 1000, Score: 2657.32, Avg.Score: 2491.78, Time: 23:57:00\n",
      "Ep.: 1807, Total Steps: 1606122, Ep.Steps: 1000, Score: 2638.12, Avg.Score: 2493.87, Time: 23:57:51\n",
      "Ep.: 1808, Total Steps: 1607122, Ep.Steps: 1000, Score: 2633.31, Avg.Score: 2495.80, Time: 23:58:43\n",
      "Ep.: 1809, Total Steps: 1608122, Ep.Steps: 1000, Score: 2658.44, Avg.Score: 2498.11, Time: 23:59:34\n",
      "Ep.: 1810, Total Steps: 1609122, Ep.Steps: 1000, Score: 2624.06, Avg.Score: 2500.38, Time: 24:00:24\n",
      "Solved environment with Avg Score:   2500.383402639514\n"
     ]
    }
   ],
   "source": [
    "import time\n",
    "from  collections  import deque\n",
    "\n",
    "def sac_train(max_steps):\n",
    "\n",
    "    total_numsteps = 0\n",
    "    updates = 0\n",
    "    num_episodes = 10000\n",
    "    updates=0\n",
    "\n",
    "    time_start = time.time()\n",
    "    scores_deque = deque(maxlen=100)\n",
    "    scores_array = []\n",
    "    avg_scores_array = [] \n",
    "    \n",
    "    for i_episode in range(num_episodes): \n",
    "        episode_reward = 0\n",
    "        episode_steps = 0\n",
    "        done = False\n",
    "        state = env.reset()\n",
    "\n",
    "        for step in range(max_steps):    \n",
    "            if start_steps > total_numsteps:\n",
    "                action = env.action_space.sample()  # Sample random action\n",
    "            else:\n",
    "                action = agent.select_action(state)  # Sample action from policy\n",
    "\n",
    "            if len(memory) > batch_size:\n",
    "                \n",
    "                # Update parameters of all the networks\n",
    "                agent.update_parameters(memory, batch_size, updates)\n",
    "\n",
    "                updates += 1\n",
    "\n",
    "            next_state, reward, done, _ = env.step(action) # Step\n",
    "            episode_steps += 1\n",
    "            total_numsteps += 1\n",
    "            episode_reward += reward\n",
    "\n",
    "            mask = 1 if episode_steps == env._max_episode_steps else float(not done)\n",
    "\n",
    "            memory.push(state, action, reward, next_state, mask) # Append transition to memory\n",
    "\n",
    "            state = next_state\n",
    "            \n",
    "            if done:\n",
    "                break\n",
    "\n",
    "        scores_deque.append(episode_reward)\n",
    "        scores_array.append(episode_reward)        \n",
    "        avg_score = np.mean(scores_deque)\n",
    "        avg_scores_array.append(avg_score)\n",
    "        \n",
    "        if i_episode % 20 == 0 and i_episode > 0:\n",
    "            reward_round = round(episode_reward, 2)\n",
    "            save(agent, 'dir_ant_lr0001-sc2500', 'weights', str(i_episode), str(reward_round))\n",
    "\n",
    "        s =  (int)(time.time() - time_start)\n",
    "            \n",
    "        print(\"Ep.: {}, Total Steps: {}, Ep.Steps: {}, Score: {:.2f}, Avg.Score: {:.2f}, Time: {:02}:{:02}:{:02}\".\\\n",
    "            format(i_episode, total_numsteps, episode_steps, episode_reward, avg_score, \\\n",
    "                  s//3600, s%3600//60, s%60))\n",
    "\n",
    "                    \n",
    "        if (avg_score > 2500.0):\n",
    "            print('Solved environment with Avg Score:  ', avg_score)\n",
    "            break;\n",
    "            \n",
    "    return scores_array, avg_scores_array \n",
    "\n",
    "scores, avg_scores = sac_train(max_steps=max_steps)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "reward_round = round(np.max(scores), 2)\n",
    "save(agent, 'dir_ant_lr0001-sc2500', 'weights', 'final', str(reward_round))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "length of scores:  1811 , len of avg_scores:  1811\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "%matplotlib inline\n",
    "\n",
    "print('length of scores: ', len(scores), ', len of avg_scores: ', len(avg_scores))\n",
    "\n",
    "fig = plt.figure()\n",
    "ax = fig.add_subplot(111)\n",
    "plt.plot(np.arange(1, len(scores)+1), scores, label=\"Score\")\n",
    "plt.plot(np.arange(1, len(avg_scores)+1), avg_scores, label=\"Avg on 100 episodes\")\n",
    "plt.legend(bbox_to_anchor=(1.05, 1)) \n",
    "plt.ylabel('Score')\n",
    "plt.xlabel('Episodes #')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "def play(env, agent, num_episodes):\n",
    "    \n",
    "    state = env.reset()\n",
    "    scores_deque = deque(maxlen=100)\n",
    "    scores = []\n",
    "    \n",
    "    for i_episode in range(num_episodes + 1):\n",
    "        \n",
    "        state = env.reset()\n",
    "        score = 0                    \n",
    "        time_start = time.time()\n",
    "        \n",
    "        while True:\n",
    "            \n",
    "            action = agent.select_action(state, eval=True)\n",
    "            env.render()\n",
    "            next_state, reward, done, _ = env.step(action)\n",
    "            score += reward \n",
    "            state = next_state\n",
    "    \n",
    "            if done:\n",
    "                break\n",
    "                \n",
    "        s = (int)(time.time() - time_start)\n",
    "        \n",
    "        scores_deque.append(score)\n",
    "        scores.append(score)    \n",
    "        \n",
    "        print('Episode {}\\tAverage Score: {:.2f},\\tScore: {:.2f} \\tTime: {:02}:{:02}:{:02}'\\\n",
    "                  .format(i_episode, np.mean(scores_deque), score, s//3600, s%3600//60, s%60)) \n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Episode 0\tAverage Score: 2736.22,\tScore: 2736.22 \tTime: 00:00:04\n",
      "Episode 1\tAverage Score: 2720.49,\tScore: 2704.76 \tTime: 00:00:04\n",
      "Episode 2\tAverage Score: 2720.39,\tScore: 2720.20 \tTime: 00:00:04\n",
      "Episode 3\tAverage Score: 2720.44,\tScore: 2720.57 \tTime: 00:00:04\n",
      "Episode 4\tAverage Score: 2715.57,\tScore: 2696.11 \tTime: 00:00:04\n",
      "Episode 5\tAverage Score: 2710.24,\tScore: 2683.60 \tTime: 00:00:04\n"
     ]
    }
   ],
   "source": [
    "play(env=env, agent=agent, num_episodes=5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "env.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "#env_render = gym.make('AntBulletEnv-v0', render=True)\n",
    "#play(env=env_render, agent=agent, num_episodes=5)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [],
   "source": [
    "#play(env=env_render, agent=agent, num_episodes=5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "env_render.close()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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